Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_20 pptx

27.5.3 Virtual Humanoid Robot Platform Nakamura and Takanishi and a group of associates developed the most complete software tool for modeling and control of humanoid robots reported to date. They developed a simulator of humanoid robots and a controller of whole body motion. 34 The basic modules of this software include: 1. A dynamic simulator that executes efficient dynamics and kinematics and can accomodate structure changes of any open or closed kinematic chain, and even such kinematic chains as to change connectivity in operation. The connectivity change function is essential because it is often seen when a humanoid walks, touches or holds the environment, grasps an object with the both hands, and is even connected with another humanoid. 2. A view simulator or image synthesis that consists of modeling, illumination, shapes and materials of objects in a scene, and cameras. The shapes of artificial objects can be obtained from CAD data, but it is hard to produce material models of surfaces. The simulator can generate sequences of the fields of view from the eyes of the robot according to the dynamics simulation. When the view simulator is integrated with the dynamics simulator, visual feedback of humanoid robots can be simulated. 3. A humanoid motion controller that can handle biped locomotion, dynamic balance control at the standing position, and collision avoidance. As part of the Virtual Humanoid Robot Platform (V-HRP) project, a motion controller has been developed to achieve biped locomotion adaptive to terrain, including walking straight, turning, going up or down the stairs, and walking on rugged ground. 34 With this programming library, complex locomotion can be realized as a sequence of basic motion patterns. The link between the basic motions of the robot is automatically generated for continuous motion control. Control data FIGURE 27.32 Honda humanoid robot P2. 8596Ch27Frame Page 771 Tuesday, November 6, 2001 9:37 PM © 2002 by CRC Press LLC for a walk adaptable to terrain generated by the library have been examined and found to be consistent with the mechanism’s dynamics obtained using a dynamics simulator. The data’s con- sistency has also been proven by experiment using the hardware model developed to verify the compatibility of the simulation model with the real world. Concerning this module, two examples were presented. In the first example the robot is standing on two legs, and both legs are controlled in the same manner. With the proposed balance control, the robot can successfully sit down, reach the ground with its arms, and stand up again. To demonstrate 3-D balance, a kicking motion was tested. The robot can fully swing its left leg in one second while balancing with its right leg. With the proposed control, the robot is capable of successful kicking and balancing. The motions of the arms and body were added to provide a natural appearance. All compensation is done by the ankle actuators of the supporting leg. These software modules are integrated via CORBA (Common Object Request Broker Architec- ture). This enables Internet clients to use the software. The modules are implemented as CORBA servers, and a client can utilize them if the servers are accessible via the IIOP (Internet Inter Orb Protocol). The developers of the Humanoid Robot Platform expect it to be “the common base of humanoid robotics research focusing on software development for the community.” 27.5.4 New Application of the ZMP Concept in Human Gait Restoration A novel application of ZMP for human gait rehabilitation using treadmill training and partial body weight bearing (PWB) has been proposed. 12 This methodology has recently been successfully used for gait recovery by stroke patients. 35 One of the Wisa-ROMED projects endowed by the Fraunhofer Community developed a dem- onstration system referred to as RehaRob which represents the first application of the ZMP concept for evaluation and control of the human gait. The RehaRob is a powerful robotic system for supporting gait rehabilitation and restoration of motor functions. It combines the advantages of PWB with a number of robotic and humanoid control functions. Safe, reliable, and dynamically controlled weight suspension and posture control systems support patients and allow them to autonomously recover their gaits early in the rehabilitation stage. The global RehaRob architecture is presented in Figure 27.33. The system consists of an active weight-relieving robotic system (wire robot) that performs partial dynamic weight compensation FIGURE 27.33 Global RehaRob concept. 8596Ch27Frame Page 772 Tuesday, November 6, 2001 9:37 PM © 2002 by CRC Press LLC and posture control synchronously with the human lower limb motion; a harness system (patient interface); a treadmill and/or lifting system axial motion device (for rehabilitation of orthopedic patients) that supports repetitive motion progression; a sensory system (motion camera, insole pressure sensors, force sensors, inclinometers, wire position sensors) that collects data about the human gait and provides feedback to the control system; a system controlling the wire robot, treadmill (the axial motion system), rehabilitation planning, and programming system (user inter- face); an AR or VR system providing visual feedback; computer safety control; and a mechanical system providing exception-handling functions. The robot wires are connected to the trunk and pelvis at optimized attachment points (in the system under development, a total of ten wires are applied). The robot exerts active external forces upon the trunk and pelvis to reduce the weight on the lower limbs (reaction force) and balance the posture, thus essentially supporting the gait. Redundant wires are needed to ensure tension in all wires independent of dynamic loads. The rigid trunk–pelvis system connected by a spherical joint has nine DOFs. The RehaRob control is based on the ZMP concept. It utilizes wire force, foot reactions mea- surements, and a model of wire robot and human interaction to estimate and control ZMP. The application of the human motion ZMP trajectory for controlling a biped robot has recently been proposed. 36 For body modeling, the RehaRob uses a rigid model of a human developed with MATLAB (MatMan). The model has 37 DOFs. Figure 27.34 presents the results of simulation of the ZMP and ground projection of CoM (GCoM) trajectories for the human gait during stance phase (stance and swing legs are denoted in the figure). Apparently, in a period of time the ZMP is within the stance foot supporting area, while in the remaining time it leaves this area following FIGURE 27.34 ZMP and GCoM trajectories during single limb phase. 8596Ch27Frame Page 773 Tuesday, November 6, 2001 9:37 PM © 2002 by CRC Press LLC the moving swing foot. In a stable gait, the ZMP remains within the enveloping area constrained by foot projections on the ground. Unlike the ZMP model of human/humanoid walking (Equation 27.7), the RehaRob system includes additional wire-active forces affecting the equilibrium conditions (27.2). By means of the wire forces, it is possible to control both body reaction and ZMP location. The motion of the relevant upper and lower limbs (e.g., knee) affecting system dynamics can be measured by relatively inexpensive sensors. The trunk and pelvis positions in the RehaRob system are directly measured and controlled using both wires and body sensors. To cope with model inaccuracies and ZMP estimation errors, the RehaRob system implements a relatively complex control structure closing several control loops (Figure 27.35) around reaction force and gait posture and uses the internal wire robot and treadmill control. This control scheme includes the basic gait pattern generator (initial contact, stance, swing, single limb), which, based on the captured gait state and required weight suspension percentage generates the desired ground reaction, as well as nominal posture and ZMP location data. These values are compared with the measured (i.e., estimated) ones, and the control feedback is closed around the dynamic human gait and wire robot models. This provides the inputs to the internal wire and treadmill control loops (treadmill velocity, pulley position, and wire forces). The local controllers control the wire robot system so that the posture can support and follow the joint motion of the desired walking pattern. This pattern is a combination of ideal walking patterns (templates) including desired weight suspension and the subject’s gait performance estimated using the sensory system. Gait balance is achieved by the ZMP and posture controls for the generated pattern. The gait template generator includes data about the subject’s abnormal gait, as well as the emergency and exception-handling strategies (to com- pensate for 100% weight upon the stance leg if the conditions for single-leg support are not available, for example, due to improper ankle or knee joint position, etc.). This control scheme is similar to the recent humanoid control approaches proposed in Hirai et al. 32 and Yamaguchi et al. 37 27.6 Conclusion Having at our disposal limited space in a thematically widely conceived handbook, it was a difficult task to present such a broad and attractive field of scientific and professional interest (one recently experiencing tremendous impetus) in a way that would be both an introduction and offer in-depth coverage of humanoid robotics. FIGURE 27.35 RehaRobot control concept. 8596Ch27Frame Page 774 Tuesday, November 6, 2001 9:37 PM © 2002 by CRC Press LLC Because of this, some new challenging aspects and dilemmas concerning humanoid robotics had to be omitted, as well as new views on its current importance and role in the future. Some examples include issues such as the new frontiers of humanoid robotics, human–humanoid interactions, using humanoid robots to study human behavior, humanoid features in public places, a neurobiological perspective on humanoid robot design, humanoid robot cognition. Because the character of Mechan- ical Design Handbook: Modeling, Measurement, and Control is mostly determined by dynamics, dynamic control, and advanced design diverse types of objects and systems, the authors believe they need to mention, at least briefly, some of the phenomena pertaining to humanoid robots that deserve detailed studies to make these robots more suitable for use. The above mostly relates to refining the trajectory of the zero-moment point, especially when the gait passes from the single-support to the double-support phase. It is then that the introduction of the semi-rigid foot, in contrast to its rigid version, offers the possibility of a more faithful representation of the perturbation state of the humanoid robot to prevent the robot instantaneously reaching its foot edge — the case that has been considered up to now. Further very important improvements are related to a more reliable description of the constraint environment model, which enables more realistic insight into robot–environment interactions that offer the possibility of control dynamic performance, e.g., by reducing the dynamic impact of the robot’s foot at the end of the swing phase, which is achieved by applying active dampers at the ankle joint contstruction, as well as by passive or semi-active dampers at the other joints of the mechanical construction. Finally, let us emphasize once more that the gait of humanoid robots is an extremely complex contact task involving a mobile object whose dynamics include interaction with its environment’s dynamics, which means that (among other things) it is necessary to ensure simultaneous control with respect to both position and contact force. Some preliminary results indicate justification of such an approach, 38,39 whereas more extensive results will be achieved by a more faithful analysis of dynamic contact and the synthesis of the appropriate laws of simultaneous dynamic position force control. 40 References 1. Vukobratovi´c, M. and Juri ˇ ci ˇ c, D., Contribution to the synthesis of biped gait, IEEE Trans. Bio- medical Eng., 16(1), 1969. 2. Juri ˇ ci ˇ c, D. and Vukobratovi´c, M., Mathematical Modeling of Biped Walking Systems, ASME Pub- lication 72-WA/BHF-13, 1972. 3. Vukobratovi´c, M. and Stepanenko, Yu., On the stability of anthropomorphic systems, Mathemat- ical Biosciences, 15, 1, 1972, 4. Vukobratovi´c, M. and Stepanenko, Yu., Mathematical models of general anthropomorphic systems, Mathematical Biosciences, 17, 191, 1973. 5. Vukobratovi´c, M., How to control the artificial anthropomorphic systems, IEEE Trans. Syst., Man, Cybernetics, SMC-3, 497, 1973. 6. Arakawa, T. and Fukuda, T., Natural motion of biped locomotion robot using hierarchical trajectory generation method consisting of GA, EP, layers, Proc. IEEE Conf. Automation Robotics, Albu- querque, NM, 211, 1997. 7. Inoue, K., Yoshida, H., Arai, T., and Mae, Y., Mobile manipulation of humanoids — real time control based on manipulability and stability, Proc. IEEE Int. Conf. Robotics Automation, San Francisco, 2217, 2000. 8. Huang, Q., Kajita, S., Koyachi, N., Kaneko, K., Yokoi, K., Arai, H., Komoriya, K., and Tanie, K., A high stability, smooth walking pattern for a biped robot, Proc. IEEE Int. Conf. Automation Robotics, Detroit, 65, 1999. 9. Yagi, M. and Lumelsky, Biped robot locomotion in scenes with unknown obstacles, Proc. IEEE Int. Conf. Automation Robotics, Detroit, 375, 1999. 8596Ch27Frame Page 775 Tuesday, November 6, 2001 9:37 PM © 2002 by CRC Press LLC 10. Fujimoto, Y., Obata, S., and Kawamura, A., Robust biped walking with active interaction control between foot and ground, Proc. IEEE Int. Conf. Robotics Automation, Leuven, Belgium, 2030, 1988. 11. Fukuda, T., Komata, Y., and Arakawa, T., Stabilization control of biped locomotion robot base learning with GAs having self-adaptive mutation and recurrent neutral networks, Proc. IEEE Int. Conf. Robotics Automation, Albuquerque, NM, 217, 1997. 12. S ˇ urdilovi´c, D. and Bernhardt, R., Robust control of dynamic interaction between robot and human: application in medical robotics, Proc. German Robotic Conf., 429, 2000. 13. Vukobratovi´c, M., Borova´c, B., Surla, D., and Stoki´c, D., Scientific Fundamentals of Robotics, Vol. 7, Biped Locomotion — Dynamics, Stability, Control, and Application, Springer-Verlag, Ber- lin, 1990. 14. Stepanenko, Yu. and Vukobratovi´c, M., Dynamics of articulated open chain active mechanisms, Mathematical Biosciences, 28(1/2), 1976. 15. Vukobratovi´c, M. and Stoki´c, D., One engineering concept of dynamic control of manipulators, Trans. ASME J. Dynamic Syst., Meas. Control, 102, June 1981. 16. Vukobratovi´c, M. and Stoki´c, D., Is dynamic control needed in robotic systems and if so, to what extent? Int. J. Robotics Research, 2(2), 18–34, 1983. 17. Vukobratovi´c, M. and Stoki´c, D., Scientific Fundamentals of Robotics, Vol. 2, Control of Manip- ulation Robots: Theory and Application, Springer-Verlag, Berlin, 1982. 18. Vukobratovi´c, M. and Stoki´c, D., Suboptimal synthesis of robot decentralized control for large- scale mechanical systems, IFAC Automatica, 20(6), 803, 1984. 19. Borova´c, B., Vukobratovi´c, M., and Surla, D., An approach to biped control synthesis, Robotica, 7, 231–241, 1989. 20. Vukobratovi´c, M. and Stoki´c, D., Significance of the force-feedback in realizing movements of extremities, Trans. Biomedical Eng., 27(12), 705, 1980. 21. Stoki´c, D. and Vukobratovi´c, M., Practical stabilization of robotic systems by decentralized con- trol, IFAC Automatica, 20(3), 1984. 22. Borova´c, B., Vukobratovi´c, M., and Stoki´c, D., Stability analysis for mechanisms with unpowered degrees of freedom, Robotica, 7, 349, 1989. 23. S ˇ iljak, D.D., Large Scale Dynamic Systems: Stability and Structure, North-Holland, Amsterdam, 1978. 24. Morari, M., Stephanopulos, G., and Aris, R, Finite stability regions for large scale systems with stable and unstable systems, Int. J. Control, 26(5), 1977. 25. Weissenberger, S., Stability regions of large-scale systems, Automatica, 9, 653, 1973. 26. Bernstein, N.A., On the Motion Synthesis, Medgiz Moscow, 1947 (in Russian). 27. Vukobratovi´c, M., Hristi´c, D., and Stojiljovi´c, Z., Development of active anthropomorphic exosk- eletons, Med. Biol. Eng., 12(1), 1974. 28. Vukobratovi´c, M. and Hristi´c, D., Active orthoses of lower extremities, Orthopedic Technic, 4, 1985. 29. Takanishi, A., Humanoid robots — a new tide towards the next century for natural human-robot collaboration, Proc. Int. Conf. Humanoids, Tokyo, 2000. 30. Takanishi, A., Ishida, M., Yamazaki, Y., and Kato, I., The realization of dynamic walking by the biped walking robot WL-10RD, Proc. 1985 ICAR, 459, 1985. 31. Lim, H., Ishiji, A., and Takanishi, A., Emotion based walking of bipedal humanoid robot, Proc. 13-th CISM-IFToMM Symp. Theory Practice Robots Manipulators. Springer-Verlag, Berlin, 295, 2000. 32. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T., The development of honda humanoid robot, Proc. 1998 IEEE Int. Conf. Robotics Automation, Leuven, Belgium, 1321, May 1998. 33. Technical Review, Honda R&D, 13(1), April 2000. 34. Nakamura, Y., Hirukawa, H., Yamane, K., Kajita, S., Yokoi, K., Tanie, K., Fujie, M., Takanishi, A., Fujiwara, K., Suehiro, T., Kita, N., Kita, Y., Hirai, S., Nagashima, F., Murase, Y., Inoba, M., and Inoue, H., V-HRP: virtual humanoid robot platform, Proc. Int. Conf. Humanoids, Tokyo, Japan, 2000. 8596Ch27Frame Page 776 Tuesday, November 6, 2001 9:37 PM © 2002 by CRC Press LLC 35. Kawamura, J., Ide, T., Hayashi, S., Ono, H., and Honda, T., Automatic suspension device for gait training, Prosthetics and Orthotics Int., 120, 1993. 36. Dasgupta, A. and Nakamura, Y., Making feasible walking motion of humanoid robots from human motion capture data, Proc. IEEE Int. Conf. Robotics Automation, Detroit, 1044, 1999. 37. Yamaguchi, J., Soga, E., Inoue, S., and Takanishi, A., Development of a bipedal humanoid robot — control method of whole body cooperative dynamic biped walking, Proc. IEEE Int. Conf. Robotics Automation, Detroit, 368, 1999. 38. Park, J. H. and Chung, H., Hybrid control for biped robots using impedance control and computed torque control, Proc. IEEE Int. Conf. Robotics Automation, Detroit, Michigan, 1365–1370, 1999. 39. Silva, F. M. and Machado, J. A. T., Goal-oriented biped walking based on force interaction control, Proc. IEEE Int. Conf. Robotics Automation, Seoul, Korea, 4122–4129, 2001. 40. Vukobratovi´c, M. and Ekalo, Yu., New approach to control of robotic manipulators interacting with dynamic environments, Robotica, 14, 3139, 1996. 8596Ch27Frame Page 777 Tuesday, November 6, 2001 9:37 PM © 2002 by CRC Press LLC 28 Present State and Future Trends in Mechanical Systems Design for Robot Application 28.1 Introduction 28.2 Industrial Robots Definition and Applications of Industrial Robots • Robot Kinematic Design • Industrial Robot Application 28.3 Service Robots From Industrial Robots to Service Robots • Examples of Service Robot Systems • Case Study: A Robot System for Automatic Refueling 28.1 Introduction In 1999 some 940,000 industrial robots were at work and major industrial countries reported growth rates in robot installation of more than 20% compared to the previous year (see Figure 28.1) The automotive, electric, and electronic industries have been the largest robot users; the predominant applications are welding, assembly, material handling, and dispensing. The flexibility and versatility of industrial robot technology have been strongly driven by the needs of these industries, which account for more than 75% of the world’s installation numbers. Still, the motor vehicle industry accounts for some 50% of the total robot investment worldwide. 9 Robots are now mature products facing enormous competition by international manufacturers and falling unit costs. A complete six-axis robot with a load capacity of 10 kg was offered at less than $60,000 in 1999. It should be noted that the unit price only accounts for about 30% of the total system cost. However, for many standard applications in welding, assembly, palletizing, and packaging, preconfigured, highly flexible workcells are offered by robot manufacturers, thus pro- viding cost effective automation to small and medium sized operations. A broad spectrum of routine job functions led to a robotics renaissance and the appearance of service robots. Modern information and telecommunication technologies have had a tremendous impact on exploiting productivity and profitability potentials in administrative, communicative, and consultative services. Many transportation, handling, and machining tasks are now automated. Examples of diverse application fields for robots include cleaning, inspection, disaster control, waste sorting, and transportation of goods in offices or hospitals. It is widely accepted that service robots can contribute significantly to better working conditions, improved quality, profitability, and availability of services. Statistics on the use and distribution of service robots are scarce and incomplete. Based on sales figures from leading manufacturers, the total service robot stock can Martin Hägele Fraunhofer Institute Rolf Dieter Schraft Fraunhofer Institute © 2002 by CRC Press LLC be estimated at a few thousand and certainly below 10,000 units. It is expected that within ten years, service robots may become commodities and surpass industrial robot applications. Robots are representative of mechatronics devices which integrate aspects of manipulation, sensing, control, and communication. Rarely have so many technologies and scientific disciplines focused on the functionality and performance of a system as they have done in the fields of robot development and application. Robotics integrates the states of the art of many front-running technologies as depicted in Figure 28.2. This chapter will give an overview of the state of the art and current trends in robot design and application. Industrial and service robots will be considered and typical examples of their system design will be presented in two case studies. 28.2 Industrial Robots 28.2.1 Definition and Applications of Industrial Robots Large efforts have been made to define an industrial robot and to classify its application by industrial branches so that remarkably precise data and monitoring are available today. 9 According to ISO 8373, a manipulating industrial robot is defined as: FIGURE 28.1 Yearly installations and operational stock of industrial robots worldwide. FIGURE 28.2 Robotics and mechatronics. (From Warnecke, H J. et al., in Handbook of Industrial Robotics, 1999, p. 42. Reprinted with permission of John Wiley & Sons.) © 2002 by CRC Press LLC An automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes (in three or more degrees of freedom, DOF), which may be either fixed in place or mobile for use in industrial automation applications. The terms used in the definition above are: • Reprogrammable: a device whose programmed motions or auxiliary functions may be changed without physical alterations. • Multipurpose: capable of being adapted to a different application with physical alterations. • Physical alterations: alterations of the mechanical structure or control system except for changing programming cassettes, ROMs, etc. • Axis: direction used to specify motion in a linear or rotary mode. A large variety of robot designs evolved from specific task requirements (see Figure 28.3). The specialization of robot designs had a direct impact on robot specifications and its general appearance. The number of multipurpose or universal robot designs was overwhelming. However, many appli- cations are common enough that robot designs with specific process requirements emerged. Exam- ples of the different designs and their specific requirements are shown in Figure 28.4. 28.2.2 Robot Kinematic Design The task of an industrial robot in general is to move a body (workpiece or tool) with six maximal Cartesian spatial DOF (three translations, three rotations) to another point and orientation within a workspace. The complexity of the task determines the required kinematic configuration. The number of DOFs determines how many independently driven and controlled axes are needed to move a body in a defined way. In the kinematic description of a robot, we distinguish between: • Arm: an interconnected set of links and powered joints that support or move a wrist, a hand or an end effector. • Wrist: a set of joints between the arm and the hand that allows the hand to be oriented to the workpiece. The wrist is for orientation and small changes in position. FIGURE 28.3 Examples of specialization of robot designs. (Courtesy of Reis Robotics, ABB Flexible Automation, and CMB Automation. From Warnecke, H J. et al., in Handbook of Industrial Robotics, 1999, p. 42. Reprinted with permission of John Wiley & Sons.) © 2002 by CRC Press LLC [...]... pallets, the robot brings the frame into a mechanical centering device for fine positioning and for eliminating tolerances in the pallets It is possible to achieve exact positioning of the frame in the robot gripper © 2002 by CRC Press LLC During the pressing operation, the robot positions and fixes the frame in the press station The pressing operation requires a press force of about 3000 N A compliance... Systems Design Planning and design of service robot systems involves systematic design of mechatronic products (Schraft and Hägele,18 Kim and Koshla,94 and Schraft et al.20) followed by designing methods that will meet cost, quality, and life cycle objectives The geometric layout and the overall configuration of the information processing architecture of the service robot are critical tasks System design. .. overwhelming Parallel robots can be simple in design and often rely on readily available, electrically or hydraulically powered, precision translatory axes.12 Figure 28.14 © 2002 by CRC Press LLC FIGURE 28.9 Modular gantry robot program with two principles of toothed belt-driven linear axes (Courtesy of Parker Hannifin, Hauser division From Warnecke, H.-J et al., in Handbook of Industrial Robotics, 1999, p... the inserts are pressed in order-specific positions into the side ledges For this operation the robot takes a ledge with the required length from a magazine and brings it to a press station A guide rail defines the exact position The fasteners are blown automatically from the feeder through a feed pipe to the press position Force and position of the press plunger are monitored during the press operation... Service Robot Systems Service robots are designed for the execution of specific tasks in specific environments Unlike an industrial robot, a service robot system must be completely designed New concepts stress the possibility of using preconfigured modules for mechanical components (joints) and information processing (sensors, controls) The following is a survey of different service robot systems, based... Robot System for Automatic Refueling Design and setup of service robot workcells require a vigorous systems approach when a robot is designed for a given task Unlike industrial robot applications, a system environment or a task sequence generally allows little modification so that the robot system must be designed in depth A good example of a service robot system design for automation of a simple task... Introduction The company Rohde & Schwarz is an established leader in the field of electronic systems and measuring instruments It attained this position by successfully offering high quality standard products and custom-designed systems Its production is characterized by small lots, short delivery © 2002 by CRC Press LLC FIGURE 28.15 Survey of benefits from robot automation and criteria for selecting suppliers... order-specific final-assembly (see Figure 28.18) © 2002 by CRC Press LLC FIGURE 28.17 instruments Typical frame design (top left and right) and frame-components (bottom) of cases for measuring FIGURE 28.18 Layout of the preassembly (left) and final assembly cell (right) 28.2.3.3.2 Pre-Assembly of Cases Automatic stations in the preassembly cell press in fastening nuts and screw in several threaded bolts... Electrolux, Sweden, introduced the first lawn mower powered by solar cells Some 43 solar cells transform sunlight into electrical energy The solar mower is fully automatic and eliminates emissions into air and makes almost no noise © 2002 by CRC Press LLC Skywash Servicing equipment — With two Skywash systems (Putzmeister Werke, Germany) in parallel operation, a reduction of ground times per washing event for...FIGURE 28.4 Application-specific designs of robots and their major functional requirements (Courtesy of FANUC Robotics, CLOOS, Adept Technology, ABB Flexible Automation, Jenoptik, CRC Robotics, and Motoman Robotec From Warnecke, H.-J et al., in Handbook of Industrial Robotics, 1999, p 42 Reprinted with permission of John Wiley & Sons.) FIGURE 28.5 Definition of coordinate systems for the handling task . 1996. 8596Ch27Frame Page 777 Tuesday, November 6, 200 1 9:37 PM © 200 2 by CRC Press LLC 28 Present State and Future Trends in Mechanical Systems Design for Robot Application 28.1 Introduction 28.2. robot platform, Proc. Int. Conf. Humanoids, Tokyo, Japan, 200 0. 8596Ch27Frame Page 776 Tuesday, November 6, 200 1 9:37 PM © 200 2 by CRC Press LLC 35. Kawamura, J., Ide, T., Hayashi, S., Ono, H.,. trajectories during single limb phase. 8596Ch27Frame Page 773 Tuesday, November 6, 200 1 9:37 PM © 200 2 by CRC Press LLC the moving swing foot. In a stable gait, the ZMP remains within the enveloping